相关论文: Three-dimensional Trajectory Optimization for Quad…

Designing optimal trajectories for multi-flyby asteroid missions is scientifically critical but technically challenging due to nonlinear dynamics, intermediate constraints, and numerous local optima. This paper establishes a method that…

This letter addresses the problem of trajectory planning in a marsupial robotic system consisting of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) through a non-taut tether with controllable length. To the best…

In practical applications, autonomous quadrotors are still facing significant challenges, such as the detection and avoidance of very small and even dynamic obstacles (e.g., tree branches, power lines). In this paper, we propose a compact,…

An effective method for optimizing path planning for a specific model of a 6-degree-of-freedom (6-DOF) robot manipulator is presented as part of the motion planning of the manipulator using computer algebra. We assume that we are given a…

Cooperative control of multi-UAV systems has attracted substantial research attention due to its significance in various application sectors such as emergency response, search and rescue missions, and critical infrastructure inspection.…

A flight trajectory defines how exactly a quadrocopter moves in the three-dimensional space from one position to another. Automatic flight trajectory planning faces challenges such as high computational effort and a lack of precision.…

Hybrid unmanned aerial vehicles (UAVs) integrate the efficient forward flight of fixed-wing and vertical takeoff and landing (VTOL) capabilities of multicopter UAVs. This paper presents the modeling, control and simulation of a new type of…

In this study, a fault-tolerant super-twisting sliding mode controller with a control allocation system for a quadrotor aircraft is proposed. Super twisting sliding mode control is a robust control technique that handles a system with a…

This paper investigates a hybrid compositional approach to optimal mission planning for multi-rotor Unmanned Aerial Vehicles (UAVs). We consider a time critical search and rescue scenario with two quadrotors in a constrained environment.…

In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as time-optimal planning. State-of-the-art approaches either…

The vertical trajectory optimization for the en route descent phase is studied in the presence of both along track and cross winds, which are both modeled as functions of altitude. The flight range covers some portion of a cruise segment…

We present a distributed control strategy for a team of quadrotors to autonomously achieve a desired 3D formation. Our approach is based on local relative position measurements and does not require global position information or…

The environment of low-altitude urban airspace is complex and variable due to numerous obstacles, non-cooperative aircrafts, and birds. Unmanned aerial vehicles (UAVs) leveraging environmental information to achieve three-dimension…

Tilt rotor aircraft combine the benefits of both helicopters and fixed wing aircraft, this makes them popular for a variety of applications, including Search and Rescue and VVIP transport. However, due to the multiple flight modes,…

Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…

In this paper, we present a minimal torque and time variable trajectory optimization method for autonomous excavator considering the soil-tool interaction. The method formulates the excavation motion generation as a trajectory optimization…

This paper presents Deep-PANTHER, a learning-based perception-aware trajectory planner for unmanned aerial vehicles (UAVs) in dynamic environments. Given the current state of the UAV, and the predicted trajectory and size of the obstacle,…

We consider the problem of optimizing the trajectory of an Unmanned Aerial Vehicle (UAV). Assuming a traffic intensity map of users to be served, the UAV must travel from a given initial location to a final position within a given duration…

Nonlinear PID control systems for a quadrotor UAV are proposed to follow an attitude tracking command and a position tracking command. The control systems are developed directly on the special Euclidean group to avoid singularities of…

This paper presents a method for path-following for quadcopter trajectories in real time. Non-Linear Guidance Logic is used to find the intercepts of the subsequent destination. Trajectory tracking is implemented by formulating the…